JVL MAC050 - Page 218

214 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
Name Desc
COB
ID
(hex)
Sub-
in-
dex
Motor
register
Initial
Value
Scalefactor to
motor
Update/
write
Profile velocity mode
Velocity_sensor_actual_value 6069h 0 V_IST BusyRead
Velocity_demand_value N/U 606Bh 0
(Copied from target
velocity on updated)
Velocity_actual_value 606Ch 0 V_IST 1/(Velocity_factor*16) BusyRead
Velocity_window 606Dh 0 Z1 100 Velocity_factor/16 Imm
Velocity_window_time 606Eh 0 INPOSCNT 6 SampleFreq/1000 Imm
Target_velocity 60FFh 0 V1 50
Velocity_factor or
Velocity_factor de-
pending on polarity
Imm + Start-
Velocity mode
Max_torque 6072h 0
T1 and
TSOLL
1000 1.023 Imm
Homing mode
Home_offset 607Ch 0 P_HOME
During homing
See Factors, page
216
Homing_method 6098h 0
See homing
decription.
Homing_speeds_number_
of_entries
RO 6099h 0 2
Horming_speeds_Speeds_
during_search_for_switch
6099h 1 V1 50 +/- Velocity_factor At homing
Horming_speeds_Speeds_
during_search_for_zero
6099h 2 V2 50 Velocity_factor At homing
Homing_acceleration 609Ah 0 ASOLL 5000 Acceleration_factor At homing
Factors
Position_notation_index N/U 6089h 0 0
Postion_dimension_index N/U 608Ah 0 0xAC
Velocity_notation_index N/U 608Bh 0 0
Velocity_dimension_index N/U 608Ch 0 0xA4
Accelleration_Notation_index N/U 608Dh 0 0
Accelleration_dimension_index N/U 608Eh 0 0
Position_encoder_resolution_
number_of_entries
RO 608Fh 0 2
Position_encoder_resolution_
Encoder_increment
608Fh 1
4096 or
8000
Not CF_Upd,
>Position_factor
Position_encoder_resolution_
Motor_revolution
608Fh 2 1
CF_Upd,
>Position_factor
Velocity_encoder_resolution_
number_of_entries
RO 6090h 0 2
Velocity_encoder_resolution_
encoder_increments_per_second
N/U 6090h 1
4096 or
8000
Velocity_encoder_resolution_
motor_resolution_s_per_second
N/U 6090h 2 1
Gear_ratio_number_of_entries RO 6091h 0 2
Gear_ratio_Motor_revolutions 6091h 1
CF Upd,>
Position_factor
Gear_ratio_Shaft_revolutions 6091h 2
CF Upd,>
Position_factor
Feed_constant_number_
of_entries
RO 6092h 0 2
See formula Fac-
tors, page 216
Feed_constant_Feed N/U 6092h 1
4096 or
8000
In CF_Upd
Feed_constant_
Shaft_revolutions
6092h 2 1
CF Upd,
>Position_factor
>Feed_constant
>PFactorNumerator
Position_factor_number_
of_entries
RO 6093h 0 2
See formula Fac-
tors, page 216
Position_factor_Numerator N/U 6093h 1 1
In CF_Upd
See formula Fac-
tors, page 216
Position_factor_Feed_constant 6093h 2